Mitsubishi Electronics MR-J2S- CL Continuous move command Mova Movia, Incremental move command

4.OPERATION

(b)Continuous move command (MOVA MOVIA)

POINT

"MOV" cannot be used with "MOVIA", and "MOVI" cannot be used with "MOVA".

The "MOVA" command is a continuous move command for the "MOV" command. After execution of the movement by the "MOV" command, the movement of the "MOVA" command can be executed continuously without a stop.

The speed changing point of the "MOVA" command is the deceleration starting position of the operation performed by the preceding "MOV" and "MOVA" commands.

The acceleration/deceleration time constant of the "MOVA" command is the value at execution of the preceding "MOV" command.

The "MOVIA" command is a continuous move command for the "MOVI" command. After execution of the movement by the "MOVI" command, the movement of the "MOVIA" command can be executed continuously without a stop.

The speed changing point of the "MOVIA" command is the deceleration starting position of the operation performed by the preceding "MOVI" and "MOVIA" commands.

The acceleration/deceleration time constant of the "MOVIA" command is the value at execution of the preceding "MOVI" command.

Command	Name	Setting	Unit		Description
MOV	Absolute move	MOV	10STM	m	Absolute move command
	command	(Set value)
	Absolute
MOVA	continuous	MOVA	10STM	m	Absolute continuous move command
	move	(Set value)
	command
	Incremental	MOVI
MOVI	move		10STM	m	Incremental move command
		(Set value)
	command
	Incremental
MOVIA	continuous	MOVIA	10STM	m	Incremental continuous move command
	move	(Set value)
	command

1)Program example 1

Use of an S-pattern time constant allows sudden operation to be eased at the time of acceleration and deceleration.

Program						Description
SPN (500)				Speed (Motor speed)		500 [r/min]		a)
STA (200)				Acceleration time constant		200 [ms]		b)
STB (300)				Deceleration time constant		300 [ms]		c)
MOV (500)				Move command		500 [ 10STM	m]	d)
SPN (1000)				Speed (Motor speed)		1000 [r/min]		e)
MOVA (1000)				Continuous move command		1000 [ 10STM	m]	f)
MOVA (0)				Continuous move command		0 [ 10StM m]		g)
STOP				Program end
	b) Acceleration time					c) Deceleration time
		constant (200ms)
						constant (300ms)
Forward
					e) Speed
rotation					(Motor speed)
			a) Speed(Motor speed)		(1000r/min)
Servo motor 0r/min			(500r/min)
speed				d) Absolute move	f) Absolute continuous	e) Speed
Reverse				command	move command			g) Absolute continuous
				(500 10STM m)	(1000 10STM m)	(Motor speed)
								move command
rotation					b) Acceleration time	(1000r/min)
								(0 10STM m)

constant (200ms)

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